Stabilization of 3 Link Acrobat Robot in Upright Position

Tomoki Watabe; Masaki Yamakita; Tsutomu Mita

doi:10.11499/sicep.2002.0.656.0

SICE Annual Conference 2002

DOI https://doi.org/10.11499/sicep.2002.0.656.0

Conference information

Host: The Society of Instrument and Control Engineers

Co-host: IEEE/Industiral Electronic Society, IEEE/Robotics and Automation Society, IEEE/Control System Society

Stabilization of 3 Link Acrobat Robot in Upright Position

Tomoki Watabe, Masaki Yamakita, Tsutomu Mita

Author information

Keywords: Stabilization, Acrobat Robot, Output Zeroing

CONFERENCE PROCEEDINGS FREE ACCESS

Pages 656

Details

Abstract

In this paper, we propose a control algorithm for solving the problem of stabilization of acrobat robot in upright position on a horizontal bar. We extend an effective method for two link acrobat robot to three link acrobat robot. This method is based on a construction of an appropriate output function about an angular momentum and its output zeroing controller. The validity of the proposed method is shown by numerical simulations and an experiment.

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